POLYNOMIAL SOLUTION OF THE STANDARD H-2 OPTIMAL-CONTROL PROBLEM FOR MACHINE CONTROL-SYSTEM APPLICATIONS - LQG GAUGE CONTROL PROBLEM DESIGN

A solution to the standard H-2 optimal control problem is presented wh ich is particularly useful in machine and process control applications where the output to be controlled is different from the signal for fe edback. The tracking problem is considered where the unmeasured output must follow a given reference trajectory. A feature of the solution i s that the algorithm involves a number of Diophantine equations associ ated with each control function, which provides insight and simpler eq uations for numerical computations. The results are applicable to both one- and two-degrees-of-freedom controller structures and the unusual two-and-a-haIf-degrees-of-freedom controller structure. A special dyn amic robustness weighting function is introduced so that the feedback loop properties can be improved. The general system model employed ena bles a much wider class of problems to be tackled than is possible wit h the usual output feedback control problem.